The deteriorations of the social infrastructures such as bridges become a serious problem. Therefore, the automated inspections of the infrastructures are necessary. In this work, we developed the inspection multirotor to adhere to vertical walls based on Universal Vacuum Gripper, in short UVG. It's one of the vacuum sucker to adhere to uneven surfaces with deformable skirt. In order to optimize the adhesion force to the vertical wall, we evaluated the skirt shape of UVG such as cylinder, ellipse and inclination. As the inspection method for the multirotor, the hammering system of the light weight rod with a rolling ball was developed. We evaluated the performance of the skirt shapes of UVG for wall adhesion by measuring the sustainable weights. The developed hammering system was also evaluated by comparing the hammering results of human and multirotor.
